CN209033073U

CN209033073U - Wrist device for healing and training

Info

Publication number: CN209033073U
Application number: CN201820481343.8U
Authority: CN
Inventors: 骆丽
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2018-03-30
Filing date: 2018-03-30
Publication date: 2019-06-28
Anticipated expiration: 2028-03-30

Abstract

The utility model discloses a kind of wrist device for healing and training, including a hand pallet, a rotary shaft, a torque sensor, a motor, a pedestal and a controller；The rotary shaft is erected on two stands, and one end of the hand pallet is fixedly connected with the rotary shaft, and the upper end of the hand pallet is provided with the elastic webbing for tying up patient hand；One end of the shaft of the torque sensor is fixedly connected with the rotary shaft, the other end is fixedly connected with the shaft of the motor；The controller is connected with the torque sensor and the motor respectively by data line, and the torque sensor detects the torque of the rotary shaft and torque value is transmitted to the controller.The utility model structure is simple, safe and practical, can be realized the carpal active of opponent and passive activity training, efficiently solves and lack wrist joint device for healing and training, the problems such as working efficiency is low or equipment is expensive.

Description

Wrist device for healing and training

Technical field

The utility model relates to a kind of device for healing and training, more particularly to the dress of rehabilitation training is carried out to patients wrist joint It sets.

Background technique

About 50% survivor leaves the dysfunction of upper limb and hand, hand in annual cerebrovascular patients Wrist joint often shows as spasm flexion.It is less for the rehabilitation training utensil of hand at present, it common are finger-separating plate, pneumatic Gloves, elastic force auxiliary hand orthosis, tail end traction type recovery robot system, exoskeletal rehabilitation robot system etc..

The utensils such as finger-separating plate can correct the hand abnormality of patients with cerebral apoplexy, reduce the spasm extent of patient, but nothing Method completes the carpal correction of opponent and training.Exoskeleton-type robot system can be realized the passive of every finger and wrist with Active movement can significantly improve the degree of being actively engaged in of patient, and improve rehabilitation effect, but the main finger that is still directed to is instructed Practice, the undertrained of wrist joint, and the relevant technologies are also immature, there are equipment it is expensive, stability is poor the problems such as.Cause This, artificial traction main to the activity in patients wrist joint or by therapist, working efficiency are lower in clinic.

Utility model content

The technical problems to be solved in the utility model is to overcome the wrist joint health being lack of pertinence in the prior art The defects such as multiple training device, working efficiency be low, provide a kind of wrist device for healing and training, and the apparatus structure is simple, safe and practical, It can be realized the carpal active of opponent and passive activity training.

The utility model is to solve above-mentioned technical problem by following technical proposals:

A kind of wrist device for healing and training, including a hand pallet, a rotary shaft, a torque sensor, a motor, a bottom Seat and a controller；

The bracket of two protrusions is provided on the pedestal, the rotary shaft is erected on two brackets and the rotary shaft It can be rotated about its center axis, one end of the hand pallet is fixedly connected with the rotary shaft, the top of the hand pallet End face is provided with the elastic webbing for tying up patient hand；

One end of the shaft of the torque sensor is fixedly connected with the rotary shaft, the shaft of the other end and the motor It is fixedly connected, the torque sensor and the motor are fixedly installed in the pedestal；

The controller is connected with the torque sensor and the motor respectively by data line, the torque sensor It detects the torque of the rotary shaft and torque value is transmitted to the controller, on the one hand, the controller can receive torque Value and the starting, stopping and positive and negative rotation that the motor is controlled according to the size and Orientation of torque value, on the other hand, the controller The starting, stopping and positive and negative rotation of the motor can be directly controlled by parameter setting.

Preferably, being provided with rolling bearing in two brackets, the both ends of the rotary shaft were extended through described in two Rolling bearing.

It is preferably fixedly connected between the shaft of the torque sensor and the rotary shaft by shaft coupling, the torque It is fixedly connected between the shaft of sensor and the shaft of the motor by shaft coupling.

Preferably, being wherein provided with the limited block of two protrusions on a bracket, two limited blocks are located proximate to institute Rotary shaft is stated, the block to match with two limits is provided in the rotary shaft, and the block stops the rotary shaft Rotary motion and make the rotary shaft that can only rotate a certain angle.

The positive effect of the utility model is:

(1) the hand pallet in the wrist device for healing and training can fix patient hand, make the hand of patient It opens, and drives hand pallet that patients wrist joint is made to do vertically shaking activity by motor, correct patient hand to reach Abnormality, and do the purpose of wrist joint rehabilitation training；

(2) on the one hand, the controller can receive torque value and control the electricity according to the size and Orientation of torque value The active training to patients wrist joint is realized in starting, stopping and the positive and negative rotation of machine, and on the other hand, the controller can lead to Starting, stopping and positive and negative rotation that parameter setting directly controls the motor are crossed, realizes the passive exercise to patients wrist joint.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model embodiment.

Fig. 2 is the structural schematic diagram of amplification corresponding with the a-quadrant in Fig. 1.

Description of symbols:

Hand pallet: 1 elastic webbing: 11

Rotary shaft: 2 blocks: 21

Torque sensor: 3

Motor: 4

Pedestal: 5

Bracket: 51 rolling bearings: 52 limited blocks: 53

Controller: 6

Shaft coupling: 7

Data line: 8

Specific embodiment

A preferred embodiment is named, and completely illustrates the utility model in conjunction with attached drawing to become apparent from.

In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "top", "bottom" "inner", "outside" be orientation based on the figure or Positional relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or member of indication or suggestion meaning Part must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.

A kind of wrist device for healing and training, as shown in Figure 1, including hand pallet 1, rotary shaft 2, torque sensor 3, motor 4, pedestal 5 and controller 6.

It is provided with the bracket 51 of two protrusions on pedestal 5, is provided with bearing hole, the central axis in two bearings hole in two stands 51 Line is overlapped, and rolling bearing 52 is equipped in bearing hole, and rolling bearing 52 is as shown in Figure 2.Rotary shaft 2 is erected on bracket 51, and The both ends of rotary shaft 2 extended through two rolling bearings 52, and rotary shaft 2 can be rotated about its center axis.

One end of hand pallet 1 is provided with the through-hole matched with rotary shaft 2, and hand pallet 1 is covered by through-hole and rotated It is fixedly connected on axis 2 and by tight fit with rotary shaft 2.It is provided in the upper end of hand pallet 1 for tying up patient's hand The elastic webbing 11 in portion, after patient hand is tied up by elastic webbing 11, palm opens, and can be used for correcting the abnormality of patient hand.

One end of the shaft of torque sensor 3 and rotary shaft 2 be fixedly connected by shaft coupling 7, the other end and motor 4 turn Axis is fixedly connected also by shaft coupling 7.Torque sensor 3 and motor 4 are fixedly installed in pedestal 5.

Controller 6 is connected with torque sensor 3 and motor 4 respectively by data line 8, the rotation of 3 real-time detection of torque sensor Torque value is simultaneously transmitted to controller 6 by the torque of shaft 2, on the one hand, controller 6 receives torque value and the size according to torque value With the starting, stopping and positive and negative rotation of direction controlling motor 4.On the other hand, controller 6 can directly control electricity by parameter setting Starting, stopping and the positive and negative rotation of machine 4.Wherein, the low speed such as stepper motor, high-precision motor can be selected in motor 4.

In addition, in order to play safety protection function, as shown in Fig. 2, being wherein provided with the limit of two protrusions on a bracket 51 Block 53, two limited blocks 53 are located proximate to rotary shaft 2, are provided in rotary shaft 2 and limit the matched blocks 21 of phase 53 with two, and keep off Block 21 stops the rotary motion of rotary shaft 2 and makes rotary shaft 2 that can only rotate a certain angle.

The wrist device for healing and training of the embodiment can be used for the active training and passive exercise in patients wrist joint.Actively Training refers to that the training device can cooperate the intention in conjunction with patient, and cooperation patient completes rehabilitation training.Passive exercise refer to by The parameter of the training device is arranged in advance, and patient follows training device to complete rehabilitation training.

The working principle of active training is: patient hand is fixed on hand pallet 1 by elastic webbing 11, opens controller 6, at this time since patient hand's spasm has the trend pressed down on, torque sensor 3 detects a torque value, this torque value quilt It is transmitted to controller 6.

When patient is lifted up wrist in advance, the torque value that torque sensor 3 detects will become smaller, at this point, controller 6 Motor 4 can be controlled after to the torque value to become smaller drives hand pallet 1 to be swung up.When hand pallet 1 swings upwards into patient's hand When carpal extreme position or limited block 53 block block 21, torque sensor 3 will test torque value and increase suddenly, at this time Controller 6 controls motor 4 and shuts down.When patient's activity wrist still further below in advance, torque sensor 3 will test torque value change Small or torque direction changes, and controller 6 controls the drive hand pallet 1 of motor 4 and swings oppositely downward at this time.When hand pallet 1 to When the extreme position or limited block 53 in lower swing to patients wrist joint block block 21, torque sensor 3 will test torque Value increases suddenly again, and controller 6 controls motor 4 and shuts down at this time.It runs repeatedly, can be realized and closed for patients wrist The active training of section.During active training, due to the change of the training device started and stopped mainly by detecting torque value Change, therefore, patient can hold the rhythm and speed of training according to own situation oneself.

The working principle of passive exercise is: according to patient's actual conditions, starting, the stop position of motor 4 are set in advance, And it can automatic reverse rotation after the stopping of motor 4.Its entire training process is similar with active training, but torque sensor 3 detects Torque value be unable to control motor 4, patient can only following device complete rehabilitation training.

Although the foregoing describe specific embodiment of the present utility model, it will be appreciated by those of skill in the art that This is merely illustrative of, and the protection scope of the utility model is defined by the appended claims.Those skilled in the art Under the premise of without departing substantially from the principles of the present invention and essence, many changes and modifications may be made, But these change and modification each fall within the protection scope of the utility model.

Claims

1. a kind of wrist device for healing and training, which is characterized in that including a hand pallet, a rotary shaft, a torque sensor, one Motor, a pedestal and a controller；

The bracket of two protrusions is provided on the pedestal, the rotary shaft is erected on two brackets and the rotary shaft can It is rotated about its center axis, one end of the hand pallet is fixedly connected with the rotary shaft, the upper end of the hand pallet It is provided with the elastic webbing for tying up patient hand；

One end of the shaft of the torque sensor is fixedly connected with the rotary shaft, the shaft of the other end and the motor is fixed Connection, the torque sensor and the motor are fixedly installed in the pedestal；

The controller is connected with the torque sensor and the motor respectively by data line, the torque sensor detection Torque value is simultaneously transmitted to the controller by the torque of the rotary shaft, on the one hand, the controller can receive torque value simultaneously The starting, stopping and positive and negative rotation of the motor are controlled according to the size and Orientation of torque value, on the other hand, the controller can The starting, stopping and positive and negative rotation of the motor are directly controlled by parameter setting.

2. wrist device for healing and training according to claim 1, which is characterized in that be provided with rolling in two brackets Bearing, the both ends of the rotary shaft extended through two rolling bearings.

3. wrist device for healing and training according to claim 1, which is characterized in that the shaft of the torque sensor and institute It states and is fixedly connected between rotary shaft by shaft coupling, pass through connection between the shaft of the torque sensor and the shaft of the motor Axis device is fixedly connected.

4. wrist device for healing and training according to any one of claim 1-3, which is characterized in that a wherein bracket On be provided with the limited blocks of two protrusions, two limited blocks are located proximate to the rotary shaft, be provided in the rotary shaft with The block that two limits match, and the block stops the rotary motion of the rotary shaft and revolve the rotary shaft can only Turn certain angle.